基于红外辐射的爆炸火焰温度补偿测算技术

应用辐射测温法进行爆炸火焰温度测试时,火焰发射率取经验定值的方法与火焰燃烧机理存在较大的偏差,同时测点距离与环境温湿度也会导致不同程度的热辐射衰减,从而影响爆炸火焰温度的测量精度。本文针对上述两个问题,基于大气辐射理论与光学传播规律,提出了辐射路径衰减补偿模型,结合由红外热像仪和比色测温仪测量的爆炸火焰动态发射率,对爆炸场火焰真温进行联合反演,并将测算结果与比色测温仪测得的火焰表面温度进行对比,得到了反演温度误差范围。试验结果表明,利用本文所提出的补偿模型测算得到的爆炸火焰温度,误差由补偿前的55.699%～89.847%降低到11.292%～59.077%,有效提高了外场爆炸瞬态火焰温度的测算精度。     

Experimental investigation of bubbly lubricated externally pressurized thrust bearings

Experimental results are presented for a bubbly lubricated externally pressurized circular thrust bearing. The data consists of the measured radial pressure distribution together with the lubricant mass flow rate over a wide range of inlet pressure, air mass flow rate ratio, for an either stationary or rotating bearing.It is shown that the air injection always improves the pressure distribution in the bearing and so can completely avoid the negative pressure generated due to rotational inertia. Also it is shown that the bearing load carrying capacity increases as the injected air mass flow increases, especially at high inlet pressure. The lubricant mass flow rate is reduced by the increase of air mass flow rate and by the decrease of bearing rotational speed.Finally the experimental results described in this paper are in good agreement with the mathematical analysis, based on the homogeneous flow model presented previously.     

基于N-S方程的多孔质气膜悬浮力学模型研究

为了研究多孔质气浮承载系统设计参数对气膜厚度的影响特性,以平行圆板模型为对象,建立了包含多孔质特性和缝隙流特性的气膜悬浮静态模型,分析了承载系统多孔质部分的受力特性,得出了气膜厚度控制方程,并利用改进弦截法进行求解。理论计算和实验结果对比表明,基于气膜简化模型的数值计算结果与实验值吻合较好,验证了理论模型的有效性。通过数值计算结果,探讨了通气量和承载力变化对气膜厚度的影响规律。研究表明,气膜厚度受通气量及承载力的影响,可通过对通气量及承载力进行最优控制,以使气膜厚度满足环境使用要求。     

亚音速气流作用下薄板结构混沌运动的时滞反馈控制

研究了亚音速气流下非线性二维薄板结构在横向周期载荷作用下的混沌运动及控制问题。基于von Karman大变形板理论和分离变量法,建立了亚音速下薄板结构的运动控制方程。对于未控系统,采用Melnikov方法判断其混沌运动阈值,并用Runge-Kutta法进行数值验证。对处于混沌运动状态的系统,采用时滞反馈控制方法对混沌运动进行控制。结果表明,Melnikov方法可以有效地预测系统的混沌运动行为,时滞反馈控制方法可以有效地将系统的混沌运动转化为周期运动。     

Elastoplastic contact of rough surfaces: a line contact model for boundary regime of lubrication

This paper introduces an improved friction model accounting for elastoplastic behavior of interacting asperities along contiguous rough surfaces for a line contact solution. It is based on Greenwood and Tripp’s original boundary friction model and specifically tailored for a boundary regime of lubrication. The numerical solution of Reynolds’ equation is achieved by implementing Elrod’s cavitation algorithm for a one dimensional line contact. The transience in the numerical solution is retained by accounting for the squeeze film term in Reynolds’ equation under fixed loading conditions and varying sliding motion. A sliding bearing rig is used to measure friction and compare the results with the prediction made using the approach highlighted above. The numerical/experimental results show good agreement.     

Disturbance compensation of a dual-arm underwater robot via redundant parallel mechanism theory

Disturbance compensation is one of the major issues for underwater robots to hover as a mobile platform and to manipulate an object in an underwater environment. This paper presents a new strategy of disturbance compensation for a mobile dual-arm underwater robot using internal torques derived from redundant parallel mechanism theory. A model of the robot was analyzed by redundant serial and parallel mechanisms at the same time. The joint torque to operate the robot is obtained from a redundant serial mechanism model with null-space projection due to redundancy. The joint torque derived from the redundant parallel kinematic model is calculated to perfectly compensate for disturbances to the mobile platform and is included in the solution of the joint torque based on the serial redundant model. The resultant joint torque can generate force on the end-effector for required tasks and forces for disturbance compensation simultaneously . A simulation shows the performance of this disturbance compensation strategy. The joint torque based on the algorithm generates the desired task force and the disturbance compensation force together, and a little additional joint torque can generate a large internal force effectively due to the characteristics of a redundant parallel mechanism. The proposed method is more effective than compensation methods using thrusting force on the mobile platform.     

具有可变均压槽的气体静压推力轴承性能研究

具有可变均压槽的气体静压推力轴承,是作者提出的一种新结构轴承.本文建立了这种新结构轴承的性能计算方法,用有限差分法耦合求解气体静压推力轴承的雷诺方程和弹性薄片的变形控制方程,得到轴承的各项性能参数,并通过试验加以对比验证,计算结果与试验具有较好的一致性.结果表明该新型气体静压推力轴承的设计方案能够提高轴承的刚度.     

热喷干扰气体模型对飞行器气动特性影响分析

针对不同气体模型对高超声速飞行器喷流反作用控制系统(RCS)热喷干扰流场模拟的计算效率和准确性问题, 基于喷流燃气物理化学模型, 通过数值求解含化学反应源项的三维N-S方程, 建立了飞行器RCS热喷干扰流场数值模拟方法, 分别采用化学反应流、反应冻结流、二元异质流以及空气喷流四种气体模型开展了典型外形热喷干扰流场的数值模拟, 研究了不同气体模型对热喷干扰流场结构、飞行器气动力热特性的影响, 分析了不同马赫数、飞行高度下的变化规律. 研究表明: 化学反应流模型计算精度较高, 计算与风洞试验数据的吻合程度优于其他三种简化模型; 在本文的低空条件下, 采用简化模型进行热喷干扰流场数值模拟, 会低估分离区大小, 使飞行器气动力特性预测出现偏差, 同时也会低估表面热环境, 对防热系统设计不利, 随着马赫数增加, 简化模型对气动力热特性预估的误差进一步增大, 同时不同简化模型之间的差异也进一步增大; 飞行高度较高时, 模型之间的差异减小, 此时可采用简化模型进行计算以提高计算效率. 本文的研究结果可为飞行器热喷干扰流场数值模拟及喷流反作用控制系统设计提供参考.      

立方星剩磁在轨辨识与主动补偿技术

立方星的姿态测量与控制系统常采用磁测磁控结合偏置动量轮的方案,整星剩磁干扰力矩是影响姿态控制精度的重要因素之一。提出了一种利用磁强计实现剩磁矩在轨辨识与利用磁力矩器实现剩磁矩主动补偿的新方案:基于磁强计输出和卫星姿态动力学建立了剩磁矩在轨辨识模型,并利用采样滤波器(UKF)提高单磁强计条件下的辨识效果;把控制对象简化成线性定常系统,分析了剩磁干扰力矩对姿态的影响数学模型,并针对磁力矩器和磁强计分时工作的特点,基于叠加性原理提出了基于角速度的剩磁矩主动补偿算法。仿真研究表明,在1000 s内剩磁矩在轨辨识精度为0.001 A×m~2量级,主动补偿后,偏航角、滚动角与俯仰角控制误差分别从4.3°、4.6°与2.1°均减少至0.4°以内。提出的方法为类似配置卫星减少剩磁干扰力矩的影响提供了一种新思路。     

非定常短轴承油膜力公式的变分修正

本文采用了变分方法对非定常短轴承的油膜压力分布公式进行了修正，既保留了短轴承公式的简洁形式，又使其适用于大长径比轴承。得出了具有足够精度、适合轴颈大扰动情况下的有限长圆柱轴承非定常油膜力的解析公式。与差分充零算法相比，短轴承公式的结果在轴承长径比为0．6时，误差已经超过百分之二百，而本方法计算结果的误差小于百分之五。因此采用本方法既提高了短轴承油膜力公式的计算精度，又保持了油膜力公式的简洁形式，不失为进行转子-轴承系统非线性动力分析的一种有效方法。     

Nonlinear adaptive task space control for a 2-DOF redundantly actuated parallel manipulator

A nonlinear adaptive (NA) controller in the task space is developed for the trajectory tracking of a 2-DOF redundantly actuated parallel manipulator. The dynamic model with nonlinear friction is established in the task space for the parallel manipulator, and the linear parameterization expression of the dynamic model is formulated. Based on the dynamic model, a new control law including adaptive dynamics compensation, adaptive friction compensation and error elimination items is designed. After defining a quadratic performance index, the parameter update law is derived with the gradient descent algorithm. The stability of the parallel manipulator system is proved by the Lyapunov theorem, and the convergence of the tracking error and the error rate is proved by the Barbalat’s lemma. The NA controller is implemented in the trajectory tracking experiments of an actual 2-DOF redundantly actuated parallel manipulator, and the experiment results are compared with the APD controller.     

Two-scale command shaping for feedforward control of nonlinear systems

This paper presents a critical analysis of the two-scale command shaping (TSCS) feedforward control technique as applied to nonlinear Duffing oscillators. TSCS is an approach for tailoring a flexible system’s applied control input to reduce undesirable residual vibrations using multiple problem scales, command shaping of a linear subproblem, and cancelation of a remaining nonlinear subproblem. As shown herein, TSCS proves to be an effective method for feedforward control of nonlinear systems. The strategy outperforms conventional and nonlinearly informed command shaping strategies in traditional and non-traditional Duffing systems (e.g., Duffing systems with quadratic nonlinearity and Coulomb damping). The TSCS approach is also extended herein to nonlinear systems with uncertain parameters through the implementation of robust command shaping strategies and the extended Kalman filtering parameter estimation technique.     

Active magnetic bearing based force measurement using the multi-point technique

Active magnetic bearings (AMBs) are currently used in a number of commercial and research applications. AMBs allow for higher rotational speeds than rolling element bearings while eliminating the need for lubrication. In addition, they also may be used concurrently as support bearings and non-invasive force sensors by monitoring bearing flux-density through the addition of Hall Effect probes or through measurement of bearing currents applied to magnetic circuit models of the bearing. Many current-based approaches are limited because of model assumptions due to unknowns in the final geometry/assembly of the bearing itself resulting in unknown flux distribution. This paper addresses a new strategy for AMB current-based force measurement, the Multi-Point Method, which uses a system identification approach in order to improve the accuracy of force measurements in field conditions with no additional hardware. The Multi-Point Method described in this paper is a system identification approach to force measurement where both gap and forces are determined through the use of perturbation current application, recording of resulting states, and the use of an on-line algorithm. The Multi-Point Method has been shown to be capable of providing force measurements that are more accurate and more precise over a range of vertical rotor displacements (mimicking misalignment, assembly variations, and thermal growth effects on field gaps) than conventional single point current-based measurements that rely on assumed gaps in static tests. This paper presents the results of a proof-of-concept static test in a non-rotating two bearing rotor. Initial static experimental results demonstrate that the multi-point force predictions are within 1.03% of the known rotor force on average, with an average standard deviation of 0.83%. Comparatively, the conventional single point force predictions were within 5.76% of the known force with an average standard deviation of 6.17%. Dynamic effects due to eddy currents and hysteresis effects also degrade current-based force model accuracy and will be addressed in future work. The goal of this study is to demonstrate the importance of accounting for geometric parameters through a system identification approach to improve the fundamental current-based model accuracy.     

Robust control of electrically driven robots by adaptive fuzzy estimation of uncertainty

This paper presents a novel robust decentralized control of electrically driven robot manipulators by adaptive fuzzy estimation and compensation of uncertainty. The proposed control employs voltage control strategy, which is simpler and more efficient than the conventional strategy, the so-called torque control strategy, due to being free from manipulator dynamics. It is verified that the proposed adaptive fuzzy system can model the uncertainty as a nonlinear function of the joint position error and its time derivative. The adaptive fuzzy system has an advantage that does not employ all system states to estimate the uncertainty. The stability analysis, performance evaluation, and simulation results are presented to verify the effectiveness of the method. A?comparison between the proposed Nonlinear Adaptive Fuzzy Control (NAFC) and a Robust Nonlinear Control (RNC) is presented. Both control approaches are robust with a very good tracking performance. The NAFC is superior to the RNC in the face of smooth uncertainty. In contrast, the RNC is superior to the NAFC in the face of sudden changes in uncertainty. The case study is an articulated manipulator driven by permanent magnet dc motors.     

Characteristic analysis of mechanical thermal coupling model for bearing rotor system of high-speed train

Applied Mathematics and Mechanics - Based on Newton’s second law and the thermal network method, a mechanical thermal coupling model of the bearing rotor system of high-speed trains is...     

A numerical scheme for solving a periodically forced Reynolds equation

A modified Reynolds equation is used to model the air‐film in a high‐speed squeeze‐film bearing. The axial position of the bearing stator is prescribed as a finite amplitude periodic oscillation. A numerical approach is considered for solving the uncoupled and coupled periodic problems associated with this model. The uncoupled problem requires the computation of the squeeze‐film dynamics when the rotor is held at a fixed axial position and the coupled problem incorporates the additional air–rotor interaction since the rotor position is unknown and modelled as a spring‐mass‐damper system. The details of a Fourier spectral collocation scheme are provided for the reduction of the modified Reynolds equation to a system of non‐linear, first‐order ordinary differential equations in space. Using the Matlab boundary value problem solver bvp4c this system of equations is solved to give the periodic pressure distributions and rotor heights. The high degree of accuracy in the spectral collocation scheme is demonstrated through comparison with an appropriate analytical solution. Further analysis indicates that the direct periodic solver is at least 10 times faster than the equivalent Crank–Nicholson finite‐difference scheme. For changing values of a selected physical parameter the method of arc‐length continuation is employed to track branches of solutions computed using the spectral collocation scheme. A selection of results is presented to demonstrate the range of accessible solutions and the robust nature of the numerical scheme. Copyright © 2010 John Wiley & Sons, Ltd.     

Libration suppression of tethered space system with a moving climber in circular orbit

This paper studies the dynamics and libration suppression of a tethered system with a moving climber in circular orbits. The tethered system is modeled by a two-piece dumbbell model that consists of one main satellite, one climber and one end-body connected by two straight, massless and inextensible tethers. A new tension control strategy to suppress the libration of the tethered system due to the moving climber is proposed by reeling in-out tether at the end-body without thrust. The control strategy is implemented with the sliding mode control to suppress the libration angle of the climber to zero by the end of climber’s transfer phase. The numerical results show that the proposed control strategy is very effective in suppressing the libration of the climber in the three-body tethered system with tension control only. Furthermore, cases with limited tension control are examined. It reveals that a longer tether between the climber and the end-body is required to supplement the limited tension in suppressing the libration of the climber.     

考虑防御系统延迟使其预测误差最大的突防弹道设计

对中段多脉冲机动突防弹道的设计问题进行了研究。采用的原理与方法有别于成熟的航天器多脉冲变轨,而是基于路径规划的思想对弹道设计问题简化。考虑敌方防御系统延迟,改进多脉冲点火模型,并基于变射面的思想对关机点参数进行了设计及优化。然后,从使敌方预测误差最大的角度提出评价函数,并利用遗传算法进行优化。最后,给出了一种同时满足导弹机动突防与打击精度要求的多脉冲弹道设计方法。从模型的可行性,方法的有效性、灵活性、迭代效率及精度等方面进行了仿真验证分析。在PC机仿真中,20 s内就设计出一条保证打击精度的中段突防弹道。结果表明,建立的模型是可行的,提出的突防弹道设计方法是快速有效的。     

Tuning of PID Controllers Based on Bode’s Ideal Transfer Function

This paper presents a new strategy for tuning PID controllers based on a fractional reference model. The model is represented as an ideal closed-loop system whose open-loop is given by the Bode’s ideal transfer function. The PID controller parameters are determined by the minimization of the integral square error (ISE) between the time responses of the desired fractional reference model and of the system with the PID controller. The resulting closed-loop system (with the PID controller) has the desirable feature of being robust to gain variations with step responses exhibiting an iso-damping property. Several examples are presented that demonstrate the effectiveness and validity of the proposed methodology.     

Mesoscale modeling of microgel mechanics and kinetics through the swelling transition

The mechanics and swelling kinetics of polymeric microgels are simulated using a mesoscale computational model based on dissipative particle dynamics. Microgels are represented by a random elastic network submerged in an explicit viscous solvent. The model is used to probe the effect of different solvent conditions on the bulk modulus of the microgels. Comparison of the simulation results through the volume phase transition reveals favorable agreement with Flory-Rehner’s theory for polymeric gels. The model is also used to examine the microgel swelling kinetics, and is found to be in good agreement with Tanaka’s theory for spherical gels. The simulations show that, during the swelling process, the microgel maintains a nearly homogeneous structure, whereas deswelling is characterized by the formation of chain bundles and network coarsening.